Lenze ECSxM via EMF2192IB (EtherCAT): CiA402 compatibility and configuration iss

Hi everyone,I'm looking for some help from the community with configuring a Lenze drive setup to work with LinuxCNC via the(lcnc-ethercat) driver.The Hardware:

• Axis module: Lenze ECSxM
• Communication module: Lenze EMF2192IB (EtherCAT)

The Issue: I am trying to configure the axis module control using the standard CiA402 profile. However, during diagnostics, I ran into some mapping issues:

1. When running the

   ethercat pdos

   command, the core CiA402 profile indices like

   0x6060

   (Modes of Operation) and

   0x6061

   (Modes of Operation Display) are missing. From what I’ve gathered in the Lenze documentation, these parameters seem to be strictly hardcoded into SDOs.
2. When running

   ethercat sdos

   , the master only returns unnamed indices strictly within the

   0x2000

   to

   0x5801

   range. Nothing above this pool is visible (objects from

   0x6000

   onwards are missing entirely).

Given this situation, I have a few questions for the experts here:

1. Is it actually possible to get the ECSxM + EMF2192IB combo running properly under the standard CiA402 profile in LinuxCNC? Does a native driver/component for

   ethercat-cia402

   support this particular hardware?
2. If the standard profile isn't supported out of the box due to Lenze's proprietary layout, what is the best way to handle the control? Do I need to manually map the Lenze-specific SDOs/PDOs (from the

   0x2000

   -

   0x5000

   range) into HAL, or should I write a custom XML config to handle PDO Mapping via SDO download?
3. If anyone has successfully configured this or has a working

   ethercat-conf.xml

   example for this generation of Lenze inverters, could you please share it?

Any advice, pointers, or examples would be greatly appreciated!Cheers!